automation - ican-motor.comican-motor.com/wp-content/uploads/2018/07/3mr8.pdf · 3mr8 3phase...

3MR8

Automation

3-PHASE STEPPER MOTOR DRIVE

Dongguan ICAN Technology Co., Ltd

User manual

ICAN July 2016 2

3MR8

ExternalPower Supply

Power Supply

Det.

CurrentDet.

MotorMOSFET

15V reg

Switch

LED

DSP

I/O

Co

nn

ecto

r

Opticallso

ENA-ENA+

DIR-DIR+

PUL-PUL+

24~75VDC

3-Phase Stepper Motor Drive 3MR8

3 Phase digital stepper motor driver

■ Features

3MR8 3phase digital stepper motor driver is a cost-effective, high performance step drives. The design is based on advanced digital current control technology, and features high torque, low noise, and low vibration. The running current, microstep resolution and other parameters are switch selectable. 3MR8 can be matched for 3phase 57mm and 86mm stepper motors.

●

●

●

●

●

●

●

●

●

●

New ARM 32bit processor Resolution is 25600

Idle Current setting Output current reaches 7.8A

Input Voltage DC24-75 CW/CCW and CW/Dir modes switches

Torque Ripple Smoothing Signal input is 5-24VDC

Self Test and alarm function Microstep Emulation

■ Functional diagram

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Parameter Min. Typical Max. Unit

Power supply 24 48 75 VDC

Output Current 1.5 - 7.8 A

Step Frequency 1 - 200K Hz

Step pulse width 250 - 5E+8 ns

Input Signal Voltage 3.3 5 24 VDC

10

33

12

34

56

78

N01

23

N0

76

22.5 25.25

4-∅3.5

3.287.5

111.

6

4


■ Electrical performance and environment indicators

● Electrical Specifications

● Environment Indicators

Heat Sinking Method Natural cooling or fan-forced cooling

Atmosphere Avoid dust, oily mist and corrosive air

Operating Temperature 0～40℃

Ambient Humidity 90% or less (non-condensing)

Storage Temperature -10～70℃

Heat Sinking Method 5.9m/s² maximum

■ Dimension (Units: mm)

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PLC

　●

Name Function description

SW9～SW11 Motor parameter selection

　 ●

　

Connector Function description

V- Power supply-

V+ Power supply+(DC24-75V)

　 ●


SW1～SW3 Running current setting

SW4 Idle current setting

SW5～SW8 Micro stepping setting

　 ●


SW12 Single/double pulse matching

SW13 Self Test


■ System Configuration

Status LED

Control signal

Input connector

Function selection

Function selection switch 3




Function selection

Switch 2

Switch 1

Power supply

Connector

DC power supply

Motor

Motor connection

Connector

CN2 Function description

E FG

NC NC

U Motor phase U

V Motor phase V

W Motor phase W

● Motor connector

● Function selection switches

Connector Function description

OUT+ Alarm output signal+

OUT- Alarm output signal-

ENA+ Enable signal input+

ENA- Enable signal input-

DIR+ Direction signal input+/CWW pulse input+

DIR- Direction signal input-/CWW pulse input-

PUL+ Pulse input+/CW pulse input+

PUL- Pulse input-/CW pulse input-

Power supply connector

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U

V W

U

V W


To change the direction of motor, customers only need to change the line sequence of one of U V W phases. Star connection and triangular connection are available for 3 phase motors. Star connection is for low speed occasions and triangular connection is for high speed occasions.

Star connection Triangular connection

■ Connecting the motor

6ICAN July 2016ICAN

DIR+

DIR-

ENA+

ENA-

PUL+

PUL-

DIR/CWW

VCC

PUL/CW

ENA

DIR/CWW

PUL/CW

DIR+

DIR-

ENA+

ENA-

PUL+

PUL-

VCC

VCC

VCC

ENA

DIR+

DIR-

ENA+

ENA-

PUL+

PUL-

DIR/CWW

PUL/CW

ENA


■ Control signal input

The control signal is OC input; the voltage ranges DC5-24V. The largest step frequency is 200KHz and rising edge is valid.

Common anode

Controller Motor driver

Common cathode

Controller

Motor driver

Difference


Enable signal

Direction signal

Pulse

DC5～24V

ALM+

ALM-

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0V

DC5～24V

ALM+

ALM-

Vu

0V

Vu

ALM+

ALM-

DC5～24V电源 +

-

Vu


●

Alarm signal output is OC. The maximum saturation voltage is 30V and maximum saturation current is 100mA.

Alarm signal output

Common anode


Common cathode

Controller

Motor driver

Relay

Relay Motor driver

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SW12

K

E

SW13

K

E

SW4

K

E


■ Function setting

● Pulse Input Mode

CW/CCW mode: SW12=ON PUL/DIR mode: SW12=OFF (factory setting)

The setting will take effect after recycle the power

CW/CCW Pulse

When pulse is input at PUL/CW terminal, the motor will rotate by one step in one direction.

When pulse is input at DIR/CWW terminal,the motor will rotate by one step in the other direction.

PUL/CWHL

H

LDIR/CWW

CW

CWWMotor Motion

Above 2μs

Pulse & Direction

When pulse is input at PUL terminal, and DIR terminal is high voltage, the motor will rotate by one step in one direction. When pulse is input at PUL terminal, and DIR terminal is low voltage, the motor will rotate by one step in the other direction.

HL

H

L

CW

CWW

Above 2μs Above 2μs

PUL input

DIR input

Motor Motion

Setting switch SW13 to ON after the drive is powered up will cause the drive to perform a self test rotate the motor back and forth, two turns in each direction, setting switch SW13to OFF will disable this feature.

● Self Test

●

The running current of the motor driver is automatically reduced whenever the motor hasn’t moved for 1 second. Setting the SW4 switch to ON reduces the current to 50% of its running value. Setting this switch to OFF maintains 90% of the running current. This 90% setting is useful when a high holding torque is required. To minimize motor and drive heating it is highly recommended that the idle current reduction feature be set to 50% unless the application requires the higher setting.

Idle Current

ICAN July 2016 9

Peak running current SW1 SW2 SW3

1.5A OFF OFF OFF

2.0A ON OFF OFF

3.0A OFF ON OFF

4.0A ON ON OFF

5.2A OFF OFF ON

5.8A ON OFF ON

7.0A OFF ON ON

7.8A ON ON ON

Resolution(step/r) SW5 SW6 SW7 SW8

200 ON ON ON ON

400 OFF ON ON ON

800 ON OFF ON ON

1600 OFF OFF ON ON

3200 ON ON OFF ON

6400 OFF ON OFF ON

12800 ON OFF OFF ON

25600 OFF OFF OFF ON

1000 ON ON ON OFF

2000 OFF ON ON OFF

4000 ON OFF ON OFF

5000 OFF OFF ON OFF

8000 ON ON OFF OFF

10000 OFF ON OFF OFF

20000 ON OFF OFF OFF

25000 OFF OFF OFF OFF

SW5

K

ESW6 SW7 SW8

SW2

K

ESW3SW1


● EN Input

The EN input enables or disables the drive amplifier. When EN input is ON the drive amplifier. When EN input is ON the drive amplifier is deactivated. All the mosfets will shut down, and the motor will be free. When EN input is OFF, the drive is activated. A falling signal into the EN input will reset the error status and activate the drive amplifier again.

● Running current

The output current of the driver is set by the SW1, SW2 and SW3 switches and can be changed as necessary. There are 8 settings available according to the ON/OFF combination of the switches. Normally, customers set the current same with the motor rated current.

● Microstepping

The microstep resolution is set by the SW5, SW6, SW7 and SW8 switches. There are 16 settings.

ICAN July 2016 10

K

E

Recommended motorHolding

Torque(Nm)SW9 SW10 SW11 Flange size

Recommended voltage

57H3P4124A6 0.4Nm ON ON OFF

57

24VDC

57H3P5656A6 0.9Nm OFF ON OFF 24VDC

57H3P7652A3 1.2Nm ON OFF OFF 48VDC

60H3P7845A3 1.5Nm ON ON ON 60 48VDC

85H3P6831A3 1.6Nm OFF ON ON

85

48VDC

85H3P9758A3 4.5Nm ON OFF ON 68VDC

85H3P12752A3 6.0Nm OFF OFF ON 68VDC

SW9 10 11


● Anti Resonance

To optimize the system performance to gain fastest feedback, customers are allowed to select parameters (based on SW9, SW10 and SW11) to match the motor size, motor inductance.

The recommended motors are our motors. If performance is not good after switching according to the above tab, please contact us with motor parameters.

11ICAN July 2016ICAN


■ Troubleshooting

Situation Possible cause Suggestion

Motor disabled

Motor is in EN status Input a falling signal into the EN input.

Wrong wiring Check the wiring and make sure connection is right

Output current is low Set the switch to set suitable current

Microstep resolution is low Set the resolution higher

No pulse signal input Make sure pulse signal input

Input pulse signal is weak Make sure the input signal voltage DC5-24V, 7-16Ma

CW and CWW signal are input simultaneously Make sure the pulse input mode

No power supply Make sure power supply works

Motor motion is not

smooth

Motor speed is in resonance zone Set the microstep resolution higher

External interference existsMake sure the interference source and interference position

The amount of movement of the motor var ies wi th the set value

Microstep resolution is not right Set the right resolution

Output current is low Set the switch to set suitable current

Motor out of step

Acceleration / deceleration time is too short Set the Acceleration / deceleration time longer

Rated torque is low Select suitable motor

Start frequency is too high set the frequency lower when start

Current value is low Set the current higher

Voltage value is low Set the voltage higher

External interference existsMake sure the interference source and interference position


ModelHolding

Torque(Nm)Current/phase(A)

Resistance(Ω)

Inductance(mH)

Diameter of axle X(mm)

Axial length L1(mm)

Motor Length L(mm)

57H3P4124A3 0.4 2.4 3.4 4.0 6.35 20.6 41

57H3P5656A3 0.9 5.6 0.5 1.1 6.35 20.6 56

57H3P7652A3 1.2 5.2 0.5 1.4 8 20.6 76

L1 L

1.6

15

56.4±1

47.14±0.2

56.

4±1

47

.14±

0.2

4-∅55

400min

0+

∅3

8.1

_-

0.0

12

0+∅X_ -0.013

0 1.

0 2.

0 3.

0 4.

160 320 480 640 800 960

0 2.

0 4.

0 6.

0 8.

160 320 480 640 800 960

1 0.

0.25

0.50

0.75

1.00

160 320 480 640 800 960

1.25

0

0

0

24V

48V

24V

48V

24V

48V


■ Recommended motor

● 3 phase hybrid nema 23 stepper motor

unit:mm

Motor:57H3P4124A3

Driver:3MR8

Subdivision 20 Step/r： 00

Current:2 0. A

Motor:57H3P5656A3

Driver:3MR8

Subdivision 2000 Step/r：

Current:5 2. A

Ho

ldin

g T

orq

ue

N.m

Ho

ldin

g T

orq

ue

N.m

Speed rpm Speed rpm

Motor:57H3P7652A3

Driver:3MR8


Current:5 2. A

Speed rpm

Ho

ldin

g T

orq

ue

N.m


ModelHolding

Torque(Nm)Current/phase(A)

Resistance(Ω)

Inductance(mH)

Diameter of axle X(mm)

Axial length L1(mm)

Motor Length L(mm)

85H3P6858A3 2 5.8 0.52 1.5 12 31 68

85H3P9758A3 3.2 5.8 0.53 2.5 12 31 97

85H3P12558A3 6.0 5.8 0.87 6.1 14 31 125

L1 L

69.9±0.2

85

85

69.

9±0

.2

4-∅5.

5

400min

23

8

2

0+

∅7

3_

-0

.03

0+∅X_ -0.012

0.4

0.8

1.2

1.6

160 320 480 640 800 960

2.0

0.7

1.4

2.1

2.8

160 320 480 640 800 960

3.5

1.2

2.4

3.6

4.8

160 320 480 640 800 960

6.0

0

0

0


● 3 phase hybrid nema 34 stepper motor

unit:mm

24V

48V

Motor:85H3P6858A3

Driver:3MR8

Subdivision 20 Step/r： 00

Current:5 8. A

24V

48V

Motor:85H3P9758A3

Driver:3MR8


Current:5 8. A

Ho

ldin

g T

orq

ue

N.m

Speed rpm Speed rpm

Ho

ldin

g T

orq

ue

N.m

24V

48V

Motor:85H3P12558A3

Driver:3MR8


Current:5 8. A

Ho

ldin

g T

orq

ue

N.m

Speed rpm

Add:4/F, Block B, RuiLian Zhenxing Industrial Park, Wanjiang District, Dongguan City, Guangdong Province, ChinaTel: 086-0769-22327568

Fax:086-0769-22327578

ican-tech.en.alibaba.com Website:

After sale service

Warranty period

Dongguan ICAN Technology provides warranty for 1 year from the date of shipping.

Maintenance process

1) Get the maintenance permission

2) Ship the package to the following address: 4/F, Block B, RuiLian Zhenxing Industrial Park,

Wanjiang District, Dongguan City, Guangdong Province

Tel: 86-0769-22327568

Return policy

1. After use or man-made damage condition (etc, wrong wiring), no return

2. ICAN Technology guarantees the product quality, but product incompatibility is not in the return or maintain condition.3. Customers don’t use the products under the specified electrical performance and environment indicators, no maintain condition

Automation

Dongguan ICAN Technology Co., Ltd

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